基于QuaDRiGa的无人机非平稳信道模型

为了解决无人机信道模型非平稳参数空时不连续的问题,提出了一种支持三维运动及姿态旋转的无人机非平稳几何随机模型,用于描述和模拟无人机对地多输入多输出通信信道的真实特性。该模型借鉴QuaDRiGa中的“准确定性”思想,基于收发端拓扑关系更新时变信道参数,考虑路径生灭概率改进信道功率计算方法,引入姿态相位矩阵描述无人机姿态旋转,以实现无人机非平稳信道参数的平滑演进。数值仿真结果表明,本文提出模型能够保证功率和角度等参数的平滑演进,输出信道的自相关函数具有非平稳性且受无人机姿态影响显著,可用于无人机通信系统设计和算法优化等领域。     

概率视距空地信道下的无人机安全通信优化设计研究

考虑在物理层保障无人机多用户通信系统的信息传输安全,一架无人机与多个地面用户进行通信,存在一个地面窃听者尝试窃取无人机发送给用户的机密信息。研究将无人机与地面节点之间的空地信道建模为更符合实际的概率视距信道,在满足无人机飞行条件约束和离散的用户调度约束下,通过联合设计无人机的三维飞行轨迹和用户调度来最大化用户的最小平均安全速率。为求解该模型下的安全通信优化设计问题,首先将其解耦为三个子问题,然后利用整数松弛和连续凸近似方法分别求解三个子问题,最后利用块坐标下降法求出无人机的三维飞行轨迹;在此基础上,根据飞行过程中得到的瞬时信道状态信息,提出无人机飞行速度和用户调度实时优化算法。该算法将优化问题建模为线性规划问题,并用内点法求解。仿真结果表明,与已有基准算法相比,基于概率视距信道模型优化无人机的飞行轨迹可显著提升系统的安全速率,所提的飞行速度和用户调度实时优化算法可进一步提升安全速率性能。     

基于几何随机的无人机空地信道模型

针对传统无人机空地信道模型不支持三维飞行轨迹和三维天线的问题，通过引入空间旋转矩阵和轨迹参数，提出了一种基于几何随机的无人机空地三维信道改进模型。该模型结合无人机对地通信场景的特殊性，利用时变布尔变量描述视距路径、地面反射径和散射路径的动态生灭过程。同时，文中还给出了二维角度、时延和功率等模型参数的时间演进算法，用于复现无人机对地信道的时变统计特性。数值仿真结果表明，改进模型输出的空时相关特性和多普勒功率谱均与理论值吻合，并且自相关特性与实际测量结果基本一致，该模型可应用于辅助无人机空地无线通信设备的方案优化、算法验证和性能评估等领域。     

关于无人机倾斜摄影测量技术的三维建模与精度探讨

随着信息技术的不断进步,无人机倾斜摄影测量技术因为有着性价比高、呈现出来的画面更加的真实、适用范围广等特点被广泛的应用到城市三维建模中。基于此,本文首先介绍了无人机倾斜摄影测量技术的原理和特点,其次对无人机倾斜摄影测量三维建模关键技术进行了阐述,之后对影响无人机倾斜摄影测量三维建模精度的因素进行了分析,并提出了针对性的策略,主要的目的就是为了能够让无人机倾斜摄影测量技术更好的为城市三维模型的构建提供借鉴。     

无人机空中基站对地信道建模及功率覆盖预测

传统统计建模方法难以对特定场景下的无人机信道做出精确预测。针对城市场景下的无人机信道,结合确定性信道建模法,基于射线跟踪原理构建了一种无人机基站-地信道模型,该模型考虑了散射次数对接收功率的影响,将到达地面接收机的射线分为视距路径、一次散射路径和二次散射路径;给出了基于射线跟踪原理的传播损耗和3种路径相应的功率计算方法,该方法沿路径计算场强。在利用数字地图预处理技术对城市建筑物进行简化后,对该场景下无人机信道的传播路径、损耗、功率延迟分布以及功率覆盖情况进行了仿真验证。数值仿真结果表明,本模型能够准确复现城市传播环境及传播状况,覆盖预测结果可用于优化无人机部署。     

无人机衰落信道扩频通信性能研究

无人机的广泛应用吸引了越来越多的关注,组成无人机系统的关键部分是无人机和地面控制站的通信系统。重点关注中程无人机的通信链路,阐述和解决了扩频技术在无人机通信系统中的应用,分析中程无人机信道的衰落模型,理论推导了扩频通信在该无人机信道中误码概率的上边界函数,建立了衰落信道的QPSK直接扩频系统的MonteCarlo仿真模型,得到的该信道下扩频通信的误码率仿真结果与理论值相吻合,对于设计中程无人机系统,改善无人机通信数据链有效性和可靠性具有重要意义。     

湿地公园无人机航测的高效三维建模与呈现

针对湿地公园地貌和生态特征,以实例为研究对象,对湿地公园无人机航测数据的高效三维建模和轻量化呈现技术进行研究,解决大型实景模型建模效率低、实时呈现与浏览困难和缓慢等瓶颈问题。提出基于二次高斯径向基函数线性组合方程及对航测空间位置数据进行四叉树分割的三维建模算法,并实现模型的光滑连接和优化处理。实验表明,提出方法一改航测数据三维建模的传统繁琐建模方法和过程,利用少量的建模数据高效快速构建和呈现大规模三维模型,并大幅降低构建模型的数据量和获得满意的建模视觉效果。该方法不仅适用于湿地公园大规模三维高效建模与呈现,对自然风景区、林区等生态保护区的大规模三维建模与呈现亦有参考价值。     

基于OGRE的无人机全轨迹实时视景仿真系统

通过构建无人机全轨迹实时视景仿真系统,用于无人机全轨迹实时视景显示和运动模拟。该系统以开源的OGRE图形引擎作为基础,并结合建模软件3ds max,开源场景编辑器Ogre SE,及导入工具Ogremax,构建了全轨迹视景仿真所需要的三维机体模型,以及起飞阶段,巡航阶段和降落阶段的三维场景模型。通过编写解析函数库在OGRE图形引擎中解析和渲染场景。运用基于轴对齐包围盒(Axis-Aligned Bounding Box-AABB)的射线碰撞检测算法进行无人机投弹和击中目标爆炸效果模拟。通过开源的CEGUI图形界面库进行系统的人机界面的设计与构建,用于飞行数据的显示和人机交互。同时运用基于UDP的通信方式与d SAPCE实时运算主控机进行通信,使得视景系统能够实时地展示无人机飞行状态。最后通过联合实验验证视景系统的各项功能。     

基于几何随机的无人机3D信道模型

针对无人机(unmanned aerial vehicle,UAV)多输入多输出(multiple input multiple output,MIMO)信道,提出了使用二维单环和三维半球体建模的无人机信道模型.在提出信道模型的基础上,推导并分析了参考模型和仿真模型的空—时相关函数(space time correlation function,STCF)、多普勒功率谱密度(Doppler power spectral density,DPSD)和二阶统计特性如包络电平交叉率(level crossing rate,LCR).研究了不同的参数对UAV信道统计特性的影响,并将所提模型分别与单球模型和测量值对比.结果表明,莱斯因子、移动散射体速度等对信道特性有显著影响,所提模型时间相关性比单球模型高约20％,并与测量值拟合良好,验证了模型的准确性.     

5G毫米波信道模型研究与仿真

随着5 G通信系统的发展,对于无线信道的频率覆盖和宽带传输能力提出了更高的要求[1,2]。本文基于对纽约大学公布的曼哈顿地区室外实测数据的分析[3,4],总结数据的统计特性,提出一种空间波瓣联合时间簇建模方法,应用于建立频率覆盖500 MHz~100 GHz,传输带宽可达到800 MHz,并且支持多天线阵列的三维毫米波信道冲激响应模型。模型在跨频段下增加空气湿度,气压,植被等可选的环境因子的影响。然后详细阐述模型建立具体步骤和参数生成方式。最后根据仿真条件得到相应的路径损耗,功率时延谱,角度功率谱及均方时延扩展和角度扩展等结果。为了保证信道模型的准确性和可靠性,对仿真结果从均方时延扩展和角度扩展两个方面进行定性分析和定量校准,为以后对于5 G信道特性更加深入的研究打下基础。     

Only connect: teaching, technology and telesis

Abstract This paper describes an approach to the design of interactive multimedia materials being developed in a European Community project. The developmental process is seen as a dialogue between technologists and teachers. This dialogue is often problematic because of the differences in training, experience and culture between them. Conditions needed for fruitful dialogue are described and the generic model for learning design used in the project is explained.     

European Community policy and the market

Abstract This paper starts with some reflections on the policy considerations and priorities which are shaping European Commission (EC) research programmes. Then it attempts to position the current projects which seek to capitalise on information and communications technologies for learning in relation to these priorities and the apparent realities of the marketplace. It concludes that while there are grounds to be optimistic about the contribution EC programmes can make to the efficiency and standard of education and training, they are still too technology driven.     

一种自适应子融合集成多分类器方法

融合集成方法已经广泛应用在模式识别领域,然而一些基分类器实时性能稳定性较差,导致多分类器融合性能差,针对上述问题本文提出了一种新的基于多分类器的子融合集成分类器系统。该方法考虑在度量层融合层次之上通过对各类基多分类器进行动态选择,票数最多的类别作为融合系统中对特征向量识别的类别,构成一种新的自适应子融合集成分类器方法。实验表明,该方法比传统的分类器以及分类融合方法识别准确率明显更高,具有更好的鲁棒性。     

Avoiding semantic and temporal gaps in developing software intensive systems

Development of software intensive systems (systems) in practice involves a series of self-contained phases for the lifecycle of a system. Semantic and temporal gaps, which occur among phases and among developer disciplines within and across phases, hinder the ongoing development of a system because of the interdependencies among phases and among disciplines. Such gaps are magnified among systems that are developed at different times by different development teams, which may limit reuse of artifacts of systems development and interoperability among the systems. This article discusses such gaps and a systems development process for avoiding them.     

Designing economic np control charts: A programmed simulation approach

This paper presents control charts models and the necessary simulation software for the location of economic values of the control parameters. The simulation program is written in FORTRAN, requires only 10K of main storage, and can run on most mini and micro computers. Two models are presented - one describes the process when it is operating at full capacity and the other when the process is operating under capacity. The models allow the product quality to deteriorate to a further level before an existing out-of-control state is detected, and they can also be used in situations where no prior knowledge exists of the out-of-control causes and the resulting proportion defectives.     

The development of robot art

Going through a few examples of robot artists who are recognized worldwide, we try to analyze the deepest meaning of what is called “robot art” and the related art field definition. We also try to highlight its well-marked borders, such as kinetic sculptures, kinetic art, cyber art, and cyberpunk. A brief excursion into the importance of the context, the message, and its semiotics is also provided, case by case, together with a few hints on the history of this discipline in the light of an artistic perspective. Therefore, the aim of this article is to try to summarize the main characteristics that might classify robot art as a unique and innovative discipline, and to track down some of the principles by which a robotic artifact can or cannot be considered an art piece in terms of social, cultural, and strictly artistic interest. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Explanation and prediction: an architecture for default and abductive reasoning

Although there are many arguments that logic is an appropriate tool for artificial intelligence, there has been a perceived problem with the monotonicity of classical logic. This paper elaborates on the idea that reasoning should be viewed as theory formation where logic tells us the consequences of our assumptions. The two activities of predicting what is expected to be true and explaining observations are considered in a simple theory formation framework. Properties of each activity are discussed, along with a number of proposals as to what should be predicted or accepted as reasonable explanations. An architecture is proposed to combine explanation and prediction into one coherent framework. Algorithms used to implement the system as well as examples from a running implementation are given.     

Three Process Perspectives: Organizations, Teams, and People

This paper provides the author's personal views and perspectives on software process improvement. Starting with his first work on technology assessment in IBM over 20 years ago, Watts Humphrey describes the process improvement work he has been directly involved in. This includes the development of the early process assessment methods, the original design of the CMM, and the introduction of the Personal Software Process (PSP)^SM and Team Software Process (TSP){^SM}. In addition to describing the original motivation for this work, the author also reviews many of the problems he and his associates encountered and why they solved them the way they did. He also comments on the outstanding issues and likely directions for future work. Finally, this work has built on the experiences and contributions of many people. Mr. Humphrey only describes work that he was personally involved in and he names many of the key contributors. However, so many people have been involved in this work that a full list of the important participants would be impractical.     

基于复小波噪声方差显著修正的SAR图像去噪

提出了一种基于复小波域统计建模与噪声方差估计显著性修正相结合的合成孔径雷达(Synthetic Aperture Radar,SAR)图像斑点噪声滤波方法。该方法首先通过对数变换将乘性噪声模型转化为加性噪声模型,然后对变换后的图像进行双树复小波变换(Dualtree Complex Wavelet Transform,DCWT),并对复数小波系数的统计分布进行建模。在此先验分布的基础上,通过运用贝叶斯估计方法从含噪系数中恢复原始系数,达到滤除噪声的目的。实验结果表明该方法在去除噪声的同时保留了图像的细节信息,取得了很好的降噪效果。     

How do children do mathematics with LOGO?

Abstract  This paper considers some results of a study designed to investigate the kinds of mathematical activity undertaken by children (aged between 8 and 11) as they learned to program in LOGO. A model of learning modes is proposed, which attempts to describe the ways in which children used and acquired understanding of the programming/mathematical concepts involved. The remainder of the paper is concerned with discussing the validity and limitations of the model, and its implications for further research and curriculum development.